JP7088092B2 - Balance training device and control program for balance training device - Google Patents

Description

The present invention relates to a balance training device and a control program for the balance training device.

Training devices for lame patients to perform rehabilitation training are becoming widespread. For example, a training device is known in which a trainee who trains is made to stand on the tread to observe the position of the center of gravity, and the tread is moved by a driving means in order to encourage the trainer to step out or prevent the fall. See Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-100477

In a configuration in which the tread moves a small amount with respect to the training device, the trainer maintains an upright position with respect to the floor surface in principle, so that there is little change in the environment and it is difficult to maintain the trainer's motivation. .. In particular, when giving a game property to a training trial, the trainee can enthusiastically approach the training trial so that a great experience can be obtained in conjunction with the game. Therefore, it has been found that a configuration in which a mobile trolley is provided in the balance training device and the trainee is moved together with the balance training device is effective for rehabilitation training.

However, in such a balance training device, it is necessary to adjust the difficulty level of training such as acceleration and moving speed of the bogie according to the degree of recovery of the trainee. In particular, as for the degree of recovery of the trainee, it is necessary to set the difficulty level in detail for each trainer because the progress speed of the training differs depending on the age, physical strength, etc. of the trainer.

The present invention has been made to solve such a problem, and is a balance training device or the like capable of adjusting the difficulty level of training in rehabilitation training by a trainer having a disease in balance function according to the trainer. Is to provide.

The balance training device according to the first aspect of the present invention is a moving trolley that can move on a moving surface by driving a driving unit, and the moving trolley that drives the driving unit and follows a preset swing pattern. A movement control unit that moves the trainee, a posture detection sensor that detects that the disorder of the state of the trainee standing on the moving carriage is out of a predetermined range, and detection of the state of the trainee notified from the posture detection sensor. Based on the result, it has a difficulty setting unit for instructing the movement control unit to change the difficulty level of the training for moving the moving carriage by changing the swing pattern.

In this way, it is possible to provide the trainee with training suitable for the trainer by detecting the magnitude of the posture disorder of the trainer due to the training and changing the difficulty level of the training.

The posture detection sensor is a handrail sensor provided on a handrail attached to the mobile carriage, a pressure sensor provided between the handrail and a support column supporting the handrail, and the training attached to a part of the trainee's body. It may include at least one of a biological sensor that detects the ecology information of the person and a camera that is attached to the mobile vehicle and captures the posture of the trainee.

Further, the difficulty level setting unit is described in the case where the duration of the state in which the trainee's state collapse notified from the posture detection sensor is out of the predetermined range exceeds the first specified value. It may be something that reduces the degree.

Further, in the above-mentioned difficulty setting unit, the duration of the state in which the collapse of the state of the trainee notified from the posture detection sensor is out of the predetermined range is longer than the first specified value. It may support the movement control unit to stop the training when the specified value is exceeded.

Further, in the above-mentioned difficulty setting unit, the integrated value of the time when the collapse of the state of the trainee notified from the posture detection sensor is out of the predetermined range is a determination threshold value having a predetermined length. The difficulty level may be reduced when the predetermined ratio within the period is exceeded.

Further, in the difficulty level setting unit, the duration of the state in which the collapse of the state of the trainee notified from the posture detection sensor is within the predetermined range is set based on the second specified value. The difficulty level may be increased when the degree increase determination period is exceeded.

Further, the control program of the balance control device in the second aspect is a control program of the balance training device in which a trainee stands on a moving trolley moving on a moving surface to perform balance training, and is a drive for moving the moving trolley. A movement control step for driving the unit to move the moving vehicle according to a preset swing pattern, a posture detecting step for detecting that the trainee's state disorder is out of a predetermined range, and the posture. Based on the detection result of the state of the trainee notified in the detection step, the computer is made to execute the difficulty setting step of changing the swing pattern and changing the difficulty level of the training to move the moving carriage. According to the balance training device controlled by such a control program, the training suitable for the trainer is given to the trainer by detecting the magnitude of the posture disorder of the trainer due to the training and changing the difficulty level of the training. Can be provided.

INDUSTRIAL APPLICABILITY According to the present invention, when a trainee having a disease in balance function performs rehabilitation training, it is possible to provide training of a difficulty level according to the physical ability of the trainee.

It is the schematic perspective view of the training apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the system configuration of the training apparatus which concerns on Embodiment 1. FIG. It is a schematic diagram explaining the function of the training apparatus which concerns on Embodiment 1. FIG. It is a figure explaining the difficulty degree of the training of the training apparatus which concerns on Embodiment 1. FIG. It is a flowchart explaining the operation of the training apparatus which concerns on Embodiment 1. FIG. It is a timing chart explaining the change of the difficulty level of training in the training apparatus which concerns on Embodiment 1. FIG. It is a timing chart explaining the change of the difficulty level of training in the training apparatus which concerns on Embodiment 2. FIG. It is a flowchart explaining the operation of the training apparatus which concerns on Embodiment 3. It is a flowchart explaining the operation of the difficulty level up process of the training apparatus which concerns on Embodiment 3. FIG. It is a flowchart explaining the operation of the training apparatus which concerns on Embodiment 4. It is the schematic explaining the function of the training apparatus which concerns on Embodiment 5. It is a schematic diagram explaining the function of the training apparatus which concerns on Embodiment 6. It is the schematic explaining the function of the training apparatus which concerns on Embodiment 7. It is the schematic explaining the function of the training apparatus which concerns on Embodiment 8.

Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem. Further, in the following description, the components common to the plurality of embodiments will be described in the description of one embodiment, and the description will be omitted in the description of the other embodiments.

Embodiment 1
FIG. 1 is a schematic perspective view of a training device 100 as an example of the balance training device according to the first embodiment. The training device 100 is a device for a handicapped person with a disability such as hemiplegia to acquire the movement of the center of gravity necessary for walking, and for a patient with a disability in the ankle joint to recover the ankle joint function. For example, when a trainer 900 who wants to restore ankle joint function tries to continue to board the training device 100 while maintaining a balance, the training device 100 gives a load to the ankle joint of the trainer 900 to the extent that a rehabilitation effect can be expected. be able to.

The training device 100 is a moving trolley 110 that can move in the front-rear direction on the moving surface with the floor surface of the rehabilitation facility as a moving surface, and the trainee 900 that is erected on the moving trolley 110 and rides on the moving trolley 110. A frame 160 is provided to prevent the frame 160 from falling off. The mobile carriage 110 mainly includes a drive wheel 121, a caster 122, a boarding plate 130, a load sensor 140, and a control box 150.

The drive wheels 121 are arranged as two front wheels with respect to the traveling direction. The drive wheel 121 is rotationally driven by a motor (not shown) as a drive unit to move the moving carriage 110 forward or backward. The caster 122 is a driven wheel and is arranged as two rear wheels in the traveling direction. The boarding plate 130 is a boarding section on which the trainee 900 is boarded and both feet are placed. As the boarding plate 130, a flat plate made of, for example, a polycarbonate resin having a relatively high rigidity that can withstand the boarding of the trainee 900 is used. The boarding plate 130 is supported on the upper surface of the mobile carriage 110 via load sensors 140 arranged at the four corners.

The load sensor 140 is, for example, a load cell, and functions as a detection unit that detects a load received from the foot of the trainee 900 standing on the moving carriage 110. The control box 150 accommodates an arithmetic processing unit and a memory, which will be described later.

The frame 160 includes an open door 161 and a handrail 162. The door opening 161 opens when the trainee 900 is boarding the boarding plate 130 to form a passage for the trainee 900. It is closed and locked when conducting training attempts. The handrail 162 is provided so as to surround the trainee 900 so that the trainee 900 can grasp it when he / she is about to lose his / her balance or feels uneasy. The frame 160 supports the display panel 170. The display panel 170 is, for example, a display unit which is a liquid crystal panel, and is arranged at a position where the trainee 900 can easily see it during the training trial.

FIG. 2 is a diagram showing a system configuration of the training device 100. The arithmetic processing unit 200 is, for example, an MPU, and executes control of the entire device by executing a control program read from the memory 240. The drive unit (for example, the drive wheel unit 210) includes a drive circuit and a motor for driving the drive wheels 121. Further, the drive wheel unit 210 includes a rotary encoder that detects the amount of rotation of the drive wheel 121.

The operation reception unit 220 receives input operations from the trainee 900 and the operator, and transmits the operation signal to the calculation processing unit 200. The trainee 900 and the operator operate the operation buttons provided on the device, the touch panel superimposed on the display panel 170, the attached remote controller, etc. to give instructions for turning the power on / off and starting the training trial, and set the settings. Enter numerical values and select menu items.

The display control unit 230 generates, for example, a posture instruction to the trainee 900, a graphic image of the task game, or the like according to the display signal from the arithmetic processing unit 200, and displays it on the display panel 170. The memory 240 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 240 stores a control program or the like for controlling the training device 100. It also stores parameter values, functions, look-up tables, etc. of a plurality of swing patterns used for control. The memory 240 stores, in particular, a task game 241 which is a program that gives a task in a game format so that the trainee 900 can enjoy training trials, and a swing pattern 242 that defines how the mobile carriage 110 is operated. is doing. The load sensor 140 detects the load applied from the trainer 900's foot via the boarding plate 130, and transmits the detection signal to the arithmetic processing unit 200. The posture detection sensor 250 detects that the disorder of the state of the trainee 900 is out of the predetermined range. The posture detection sensor 250 detects the disorder of the posture of the trainer 900 in the state of contact with the trainer 900 or the state of non-contact with the trainer 900, or the disorder of the state of the trainer 900 such as the heart rate.

The arithmetic processing unit 200 is a calculation unit, and also plays a role as a function execution unit that executes various operations and control of individual elements according to the request of the control program. The load calculation unit 201 acquires the detection signals of the four load sensors 140 and calculates the center of gravity of the load of both feet on the boarding surface of the trainee 900. Specifically, since the positions of each of the four load sensors 140 are known, the position of the center of gravity is calculated from the distribution of the load in the vertical direction detected by each load sensor 140, and that position is used as the center of gravity of the load.

The range setting unit 202 sets a stable range, which is the range of the center of gravity of the load estimated that the trainee 900 can maintain the upright position on the boarding surface. The movement control unit 203 drives the drive wheel unit 210 based on the amount of movement of the center of gravity of the load, and moves the moving carriage 110 according to a preset swing pattern. Further, the movement control unit 203 generates a drive signal to be transmitted to the drive wheel unit 210, and controls the movement of the moving carriage 110 via the drive wheel unit 210.

The difficulty setting unit 204 changes the difficulty level of the training to move the moving carriage 110 by changing the swing pattern based on the detection result of the state of the trainer 900 notified from the posture detection sensor 250. Instruct unit 203. In the first embodiment, the posture detection sensor 250 transmits the detection result to the difficulty setting unit 204 when the posture of the trainee 900 shows a disturbance of a range equal to or more than a preset range. Then, the difficulty setting unit 204 tells the movement control unit 203 that the difficulty level of the training is lowered when the disorder of the state of the trainer 900 continues for a period equal to or longer than the preset first threshold value from the posture detection sensor 250. To support.

The training device 100 according to the first embodiment actively moves the moving trolley 110 to change the posture of the trainer 900, in addition to the training to move the moving trolley 110 with the movement of the load center of gravity of the trainer 900. Perform active load training to maintain. That is, in the active load training of the training device 100 according to the first embodiment, the functions of the load sensor 140, the load calculation unit 201, and the range setting unit 202 are not positively used. On the other hand, in the active load training of the training device 100 according to the first embodiment, the movement control unit 203 gives a drive instruction to the drive wheel unit 210 according to the swing pattern 242 stored in the memory 240, and moves the moving carriage 110. ..

Therefore, a method of adjusting the difficulty level, which is one of the features of the training device 100 according to the first embodiment, and its configuration will be described in more detail. FIG. 3 shows a schematic diagram illustrating the function of the training device according to the first embodiment. The configuration shown in FIG. 3 selectively shows the configuration necessary for adjusting the difficulty level described below, and the training device 100 according to the first embodiment includes, for example, the configuration shown in FIG. The composition of is also included. Further, in FIG. 3, the description of the configuration overlapping with the configuration described in FIG. 1 will be omitted.

As shown in FIG. 3, in the training device 100 according to the first embodiment, the handrail switch 310 is provided on the handrail 162 attached to the support column (for example, the frame 160) attached to the mobile carriage 110. The handrail switch 310 is one of the sensors that can be used as the posture detection sensor 250. Further, in the example shown in FIG. 1, a mode is shown in which a power button for instructing power on / off displayed on the display panel 170 is attached to the frame 160 as a training switch 320. By providing the training switch 320 on the frame 160 in this way, it becomes easier for the operator to start and stop the operation of the training device 100.

In the training device 100 according to the first embodiment, the difficulty level of the training is adjusted according to the physical strength and the degree of recovery of the trainee 900. Therefore, in the training device 100 according to the first embodiment, a plurality of swing patterns of the mobile carriage 110 are set as training to be given to the trainee 900. In the memory 240, the swing pattern 242 includes a plurality of swing patterns. The swing pattern 242 includes a plurality of swing patterns having different difficulty levels. Therefore, an example of the swing pattern 242 is shown in FIG. FIG. 4 is a diagram illustrating the difficulty level of training of the training device according to the first embodiment. In FIG. 4, a graph for explaining the speed change of the moving carriage 110 due to the swing pattern and the parameters for changing the speed change is shown in the above figure. Further, in FIG. 4, a table showing the parameters of the swing pattern for each difficulty level is shown in the figure below.

In the example shown in FIG. 4, the swing pattern according to the first embodiment is represented by a velocity function F using three parameters of a stop period T1, a swing period T2, and a velocity intensity parameter A. It is represented by a curve graph. More specifically, in the example shown in FIG. 4, the rocking pattern according to the first embodiment has a target speed of v, a traveling direction parameter indicating the traveling direction of the moving vehicle 110 as S, and an elapsed time after the start of training. Is t, the stop period is T1, the rocking period is T2, and the velocity intensity parameter is A. The target velocity v is expressed by the equation (1). In the equation (1), when the traveling direction parameter S is 1, the moving carriage 110 moves in the forward direction, and when it is -1, the training device 100 moves in the backward direction.
v = S × F (t, A, T1, T2) ・ ・ ・ (1)

Further, in the example shown in the lower figure of FIG. 4, the swing pattern according to the first embodiment defines difficulty levels 1 to 5, with difficulty level 5 being the highest difficulty level and difficulty level 1 being the highest difficulty level. It gets lower. The rocking pattern with a high degree of difficulty moves the moving carriage 110 at a high speed in a short time. On the other hand, in the swing pattern with a low degree of difficulty, the moving carriage 110 is moved at a slow speed over a long period of time.

Subsequently, the operation of the training device 100 according to the first embodiment will be described. Therefore, FIG. 5 shows a flowchart illustrating the operation of the training device according to the first embodiment. In the example shown in FIG. 5, the minimum difficulty level is 1 and the maximum difficulty level is 5, but the method of increasing or decreasing the difficulty level may be appropriately changed depending on how the difficulty level is set. preferable.

As shown in FIG. 5, in the training device 100 according to the first embodiment, first, the training is started by turning on the training switch (step S1). Then, when the training is started, the difficulty setting unit 204 sets the difficulty counter 5 to store the value for designating the swing pattern. (Step S2). Then, the handrail ON counter defined in the register or the like in the difficulty level setting unit 204 is set to 0, and the difficulty level down flag is set to 0 (step S3). After that, the difficulty setting unit 204 determines the swing pattern with reference to the value of the difficulty counter (step S4). Then, the training device 100 controls the moving carriage 110 according to the swing pattern selected in step S4 (step S5).

Subsequently, in the training device 100 according to the first embodiment, if the handrail switch 310 indicates an off state, the difficulty level setting unit 204 sets the handrail ON counter to 0 (YES branch in step S6). Further, in the training device 100, when the handrail switch 310 is in the ON state (NO branch in step S6), the difficulty setting unit 204 increases the value of the handrail ON counter by one (step S10). After that, the difficulty level setting unit 204 determines whether or not the handrail ON counter exceeds the preset first specified value (step S11). In step S11, the difficulty setting unit 204 determines in step S8 if the handrail ON counter is equal to or less than the first specified value. On the other hand, if the handrail ON counter is larger than the first specified value in step S11, the difficulty setting unit 204 makes a determination in step S8 after rewriting the difficulty down flag to 1. (step S12). Step S8 is a determination as to whether or not the training switch is turned off, and if the training switch is turned off in step S12, the training device 100 stops the operation (step S9). On the other hand, when the training switch is in the ON state in step S8, the movement control unit 203 of the training device 100 determines whether or not the current timing is the execution of the swing pattern (step S21).

When the movement control unit 203 determines in step S21 that the swing pattern is being executed (NO branch of step S21), the movement control unit 203 and the difficulty setting unit 204 are in steps S5 to S8 and steps S10 to S10. Execute S12. On the other hand, when the movement control unit 203 determines in step S21 that the execution of the swing pattern is completed (YES branch of step S21), the difficulty level setting unit 204 performs the difficulty level adjustment process in steps S22 to S24.

In step S22, the difficulty setting unit 204 refers to the difficulty down flag, and if the difficulty down flag is 0, the difficulty level of the swing pattern is not changed and the process is continued from the process of step S3 again. .. On the other hand, in step S22, when the difficulty level setting unit 204 determines that the difficulty level down flag is 1, the difficulty level of the swing pattern currently selected by the movement control unit 203 is 2 in the difficulty level setting unit 204. It is determined whether or not the above is the case (step S22). If the difficulty level is 2 or more, the difficulty level setting unit 204 updates the difficulty level of the swing pattern selected by the movement control unit 203 to a value lowered by one from the current value (step S23). On the other hand, if it is determined in step S22 that the difficulty level is smaller than 2, the difficulty level cannot be lowered any further. Therefore, the difficulty level setting unit 204 sets the difficulty level of the swing pattern to be selected by the movement control unit 203. The current value is maintained (NO branch in step S22). After the update process of step S24 or the difficulty level maintenance determination process of step S23 is completed, the training device 100 continues the process in order from the process of step S3.

The change in the difficulty level when the operation according to the flowchart shown in FIG. 5 is performed will be described using a timing chart. Therefore, FIG. 6 shows a timing chart for explaining the change in the difficulty level of training in the training device according to the first embodiment. The example shown in FIG. 6 shows the operation of the training device 100 over a period in which the swing pattern is executed twice. Further, in the example shown in FIG. 6, the swing pattern of difficulty level 5 is selected in the first swing pattern cycle, the posture of the trainee 900 cannot be maintained, and the swing pattern is difficult in the next swing pattern cycle. This is an example of reducing the degree to 4.

In the example shown in FIG. 6, the first swing pattern cycle TB is executed at timings T0 to T3. In the example shown in FIG. 6, at timing T1, the trainee 900 turns on the handrail switch. If the difficulty level of the training exceeds the ability of the trainee 900, it becomes difficult to maintain the posture. Therefore, the trainee 900 maintains the posture by grasping the handrail 162 while pressing the handrail switch 310. Then, at the timing T2, the handrail ON counter exceeds the first specified value. As a result, the difficulty level down flag is rewritten from 0 to 1 at the timing T2. Then, when the trainee 900 releases the handrail switch 310 at a timing after the timing T2, the handrail ON counter is reset to zero. However, the difficulty level down flag rewritten to 1 at timing T2 maintains 1 until the swing pattern cycle of timing T3 is completed.

Then, in the switching of the swing pattern cycle TB of the timing T3, the difficulty setting unit 204 lowers the difficulty level of the swing pattern selected by the movement control unit 203 based on the difficulty level down flag of 1. ..

Further, in the example shown in FIG. 6, the second swing pattern cycle TB is executed at the timings T3 to T8. In the example shown in FIG. 6, at timing T4, the trainee 900 turns on the handrail switch. However, in the second swing pattern cycle TB with reduced difficulty, the trainee 900 releases the handrail switch 310 at the timing T5. As a result, the value of the handrail ON counter is reset to zero at the timing T5. Then, at timing T6, the trainee 900 turns on the handrail switch 310 again. After that, when the trainee 900 maintains the handrail switch 310 turned on, the handrail ON counter exceeds the first specified value at the timing T7. As a result, the difficulty level down flag is rewritten from 0 to 1 at the timing T7. Then, when the trainee 900 releases the handrail switch 310 at a timing after the timing T7, the handrail ON counter is reset to zero. However, the difficulty level down flag rewritten to 1 at timing T7 maintains 1 until the swing pattern cycle of timing T8 is completed.

Then, in the switching of the swing pattern cycle TB of the timing T8, the difficulty setting unit 204 lowers the difficulty level of the swing pattern selected by the movement control unit 203 based on the difficulty level down flag of 1. ..

From the above description, according to the training device 100 according to the first embodiment, in the active load training in which the mobile carriage 110 is actively operated according to the swing pattern, the training difficulty is high with respect to the ability of the trainer 900. In some cases, the handrail switch 310 is provided on the handrail that is supported by the trainee 900 in order to maintain the posture. Then, the training intensity is reduced or maintained based on the length of the period during which the handrail switch 310 is maintained on during training.

As a result, in the training device 100 according to the first embodiment, if the training difficulty given to the trainer 900 is high, the training difficulty can be reduced to a difficulty level that matches the ability of the trainer 900. Further, in the training device 100 according to the first embodiment, since the difficulty level is gradually lowered starting from the swing pattern having a high difficulty level, the training that the trainee 900 maintains the difficulty level as high as possible according to his / her ability. It can be performed.

Further, by holding the swing pattern in the memory 240 in advance, the training device 100 according to the first embodiment does not need to generate the swing pattern by calculation according to the difficulty of training. Further, in the training device 100 according to the first embodiment, by providing the handrail switch 310 on the handrail 162, the trainer 900 maintains the posture while pressing the handrail switch 310 even in a situation where it is difficult for the trainee 900 to maintain the posture. Will be easier.

Embodiment 2
In the second embodiment, another method of determining the posture disorder of the trainer 900 that changes the difficulty level of the training will be described. Therefore, FIG. 7 shows a timing chart for explaining the change in the difficulty level of training in the training device according to the second embodiment.

In the training device 100 according to the second embodiment, in the difficulty setting unit 204, the integrated value of the time when the handrail switch 310 is turned on within a predetermined period becomes a certain ratio or more with respect to the predetermined period. Decrease the difficulty according to the situation. That is, in the difficulty setting unit 204 according to the second embodiment, the integrated value of the time in which the state collapse of the trainer 900 notified from the posture detection sensor 250 is out of the predetermined range is a predetermined length. The difficulty level is lowered when the predetermined ratio within the judgment threshold period is exceeded.

In the example shown in FIG. 7, the length of one swing pattern cycle TB is set as a predetermined period (for example, a determination threshold period). Then, in the example shown in FIG. 7, the handrail switch 310 is intermittently turned on during the period from the timing T10 to the timing T11 when the swing cycle pattern TB is started. The difficulty setting unit 204 integrates the time when the handrail switch 310 is in the ON state. Then, at the timing T11, the integrated value exceeds the preset determination threshold value, so the difficulty level down flag is set to 1. As a result, the difficulty level of the swing pattern selected by the movement control unit 203 at the timing T12 when the swing pattern is switched to the next cycle is reduced.

From the above explanation, the determination method for determining that it is not appropriate for the trainer 900's posture disorder to continue the current training difficulty level is, for example, other than the determination method of the first embodiment shown in FIG. Can also be changed depending on the specifications of the training device 100 or the type of training. It should be noted that the posture disorder such that the handrail switch 310 is intermittently turned on as shown in FIG. 7 is caused by, for example, the ability of the trainer 900 being slightly insufficient for the difficulty of training. In some cases, by adopting the determination method of the second embodiment, it becomes possible to provide training of an appropriate difficulty level even to a trainer who has difficulty in determining switching of the difficulty level of the training.

Embodiment 3
In the third embodiment, an operation method in which a process for not only lowering the difficulty level of training but also raising the difficulty level is added will be described. Therefore, FIG. 8 shows a flowchart illustrating the operation of the training device 100 according to the third embodiment.

As shown in FIG. 8, in the training device 100 according to the third embodiment, steps S2 and S24 of the flowchart according to the first embodiment shown in FIG. 5 are replaced with steps S41 and S42. In step S41, in addition to setting the difficulty level of the initial training, the value of the difficulty level up counter newly set by the training device 100 according to the third embodiment is reset to zero. Step S42 is a difficulty level up process. The difficulty level up process is a process performed by the difficulty level setting unit 204. In the difficulty level increase process, the duration of the state in which the state collapse of the trainer 900 notified from the posture detection sensor 250 is within a predetermined range is equal to or longer than the difficulty level increase determination period set based on the second specified value. If becomes, increase the difficulty level. The detailed processing of this difficulty level up processing will be described below.

FIG. 9 shows a flowchart illustrating the operation of the difficulty level up processing of the training device according to the third embodiment. In addition, in FIG. 9, in order to explain the relationship between the difficulty level up process (step S42) and the processes before and after the difficulty level up process, the process steps before and after the difficulty level up process are also described.

As shown in FIG. 9, the difficulty level up process is performed when it is determined in step S21 that the execution of the swing pattern is completed. In the difficulty level up process, first, it is determined whether or not the difficulty level down flag is 1 (step S51). If the difficulty level down flag is 1 in step S51 (YES branch of step S51), the difficulty level setting unit 204 resets the difficulty level up counter to zero and determines the difficulty level value in step S23. (Step S52).

On the other hand, when the difficulty level down flag is 0 in step S51 (NO branch of step S51), the difficulty level setting unit 204 performs a process of increasing the value of the difficulty level up counter by one (step S53). After that, the difficulty level setting unit 204 compares the magnitude relationship between the value of the difficulty level up counter and the second predetermined value set in advance (step S54). In this step S54, when the value of the difficulty level up counter is equal to or less than the second specified value (NO branch of step S54), the difficulty setting unit 204 performs the process of step S3 as the next process. .. On the other hand, in step S54, when the value of the difficulty level up counter is larger than the second specified value (YES branch of step S54), the difficulty level setting unit 204 has a current difficulty level of 4 or less. It is determined whether or not there is (step S55).

When it is determined in step S55 that the current difficulty level is greater than 4 (NO branch of step S55), the difficulty level setting unit 204 performs the process of step S3 as the next process. On the other hand, when it is determined in step S55 that the current difficulty level is 4 or less (YES branch of step S55), the difficulty level setting unit 204 increases the current difficulty level by one and sets the difficulty level up counter to zero. Reset (step S56) Then, after the process of step S56 is completed, the difficulty setting unit 204 performs the process of step S3 as the next process.

In the example shown in FIG. 9, the difficulty level increase determination period is determined by the product of the execution time of one swing pattern cycle and the second specified value.

From the above description, in the training device 100 according to the third embodiment, not only the difficulty level is lowered, but also the training difficulty is achieved when the trainee 900 succeeds in training over a plurality of swing pattern cycles. You can increase the degree. Thereby, in the training device 100 according to the third embodiment, the trainer 900 can provide training of an appropriate difficulty level.

Embodiment 4
In the fourth embodiment, another method of determining the posture disorder of the trainer 900 that changes the difficulty level of the training will be described. Therefore, FIG. 10 shows a timing chart for explaining the change in the difficulty level of training in the training device according to the fourth embodiment.

As shown in FIG. 10, in the training device 100 according to the fourth embodiment, the process of step S61 is added to the flowchart of the operation of the training device 100 according to the first embodiment shown in FIG. Step S61 is a process inserted after the process of step S12. In step S61, the difficulty setting unit 204 determines whether or not the handrail ON counter has a value equal to or higher than the third specified value. This third specified value is set to a value larger than the first specified value. Then, in step S61, when it is determined that the value of the handrail ON counter is larger than the third specified value (YES branch of step S61), the difficulty setting unit 204 sets the mobile trolley 110 to the movement control unit 203. Instruct to stop and stop training. On the other hand, when the value of the handrail ON counter is equal to or less than the third specified value in step S61 (NO branch of step S61), the difficulty setting unit 204 executes the process of step S8 as the next process.

By providing the process of step S61, in the training device 100 according to the fourth embodiment, the trainer 900 grabs the handrail switch 310 or the handrail 162 for a longer time than the time specified by the first specified value and takes a posture. Detect the situation that maintains. In such a state of the trainer 900, it can be judged that the difficulty level of the training is much higher than the ability of the trainer 900. Therefore, in the training device 100 according to the fourth embodiment, when it is determined that the difficulty level of the training is much higher than the ability of the trainer 900, the training is forcibly stopped by the process of step S61. can do. As a result, in the training device 100 according to the fourth embodiment, it is possible to provide the training device 100 with training of an appropriate difficulty level and to improve the safety.

Other Embodiments In other embodiments, the arrangement of the posture detection sensor 250 and another embodiment of the sensor that can be used as the posture detection sensor 250 will be described. In the following description, each embodiment will be described as Embodiments 5 to 8.

FIG. 11 shows a schematic diagram illustrating the function of the training device according to the fifth embodiment. In the training device 100 according to the fifth embodiment, handrail switches are provided on a plurality of sides of the handrail 162 installed so as to surround the trainer 900. In the training device 100 according to the fifth embodiment shown in FIG. 11, the frame 160 is located on the back side of the trainer 900 with the front of the body of the trainer 900 facing the forward direction of the mobile carriage 110. Is labeled with the frame 160a. Then, the handrail switch 330 was provided on the handrail 162a of the frame 160a.

In this way, by providing a plurality of handrail switches on the handrail surrounding the trainee 900, it is possible to maintain the posture more stably when the trainee 900 loses his / her posture.

FIG. 12 shows a schematic diagram illustrating the function of the training device according to the sixth embodiment. In the training device 100 according to the sixth embodiment, the pressure sensor 350 is used as the posture detection sensor 250. As shown in FIG. 12, the pressure sensor 350 is provided between the frame 160 and the handrail 340, and detects the pressure applied to the handrail 340 when the trainee 900 grips the handrail 340.

By using the pressure sensor 350 as the posture detection sensor 250 in this way, it is possible to detect the posture disorder of the trainee 900 when the trainee 900 holds any place of the handrail 340.

FIG. 13 shows a schematic diagram illustrating the function of the training device according to the seventh embodiment. In the training device 100 according to the sixth embodiment, the biological sensor 360 is used as the posture detection sensor 250. As shown in FIG. 13, the biosensor 360 is a wearable terminal worn near the wrist of the trainee 900. Further, the biosensor 360 communicates with the difficulty setting unit 204 provided in the control box 150 by wireless communication. In FIG. 13, the receiving unit 370 is shown as an interface for communicating between and the difficulty setting unit 204.

The biosensor 360 is a sensor that detects at least one of the trainee's 900 heart rate, respiratory rate, tidal volume, and sweating amount in the palm of the hand, for example. When the biosensor 360 is used, the difficulty setting unit 204 has a value corresponding to the handrail ON counter according to the value detected by the biosensor 360 exceeding a predetermined threshold value (named as the handrail ON counter). (Not limited) is counted up.

By using the biosensor 360 in this way, even if the posture of the trainer 900 is not disturbed, it is detected that the trainer 900 is overloaded, and training with a more appropriate difficulty level is performed. Can be provided to the trainee 900.

FIG. 14 is shown in a schematic diagram illustrating the function of the training device according to the eighth embodiment. In the training device 100 according to the eighth embodiment, the camera 380 is used as the posture detection sensor 250. In the example shown in FIG. 14, the camera 380 is attached to the upper end of the frame 160 or to the handrail 162. The camera 380 photographs the trainee 900. The image taken by the camera 380 may be the trainer 900 itself, or may be the skeleton of the trainer 900 or an image showing the body temperature distribution. When the camera 380 is used, a feature image showing the posture of the trainer 900 is generated by performing image processing on the camera 380 or the difficulty setting unit 204, and the posture of the trainer 900 is disturbed based on the generated feature image. To detect.

The trainee 900 performs actions such as swinging both hands vigorously while bending the upper body, or pushing both hands forward vigorously while leaning forward in order to balance when the feet swing. By using the camera 380, such a large movement of the trainer 900 is detected by the movement of the upper body and the upper limbs of the trainer 900, and for example, when the movement speed of the upper limbs exceeds the specified value, the trainer 900 It can be judged that the training of the difficulty level exceeding the ability of is given, and the difficulty level of the training can be lowered.

In this way, by using the camera 380, it is possible to determine whether or not the difficulty level given to the trainer 900 is appropriate by using the reaction of the trainer 900 who does not grasp the handrail.

100 Training device 110 Mobile trolley 121 Drive wheel 122 Caster 130 Boarding plate 140 Load sensor 150 Control box 160 Frame 161 Open door 162 Handrail 170 Display panel 200 Calculation processing unit 201 Load calculation unit 202 Range setting unit 203 Movement control unit 204 Difficulty setting Unit 210 Drive wheel unit 220 Operation reception unit 230 Display control unit 240 Memory 241 Challenge game 242 Swing pattern 250 Attitude detection sensor 310 Handrail switch 320 Training switch 330 Handrail switch 340 Handrail 350 Pressure sensor 360 Biosensor 370 Receiver 380 Camera 900 Training person

Claims (5)

A mobile trolley that can move on the moving surface by driving the drive unit,
A movement control unit that drives the drive unit to move the moving carriage according to a preset swing pattern.
A posture detection sensor that detects that the disorder of the trainee standing on the mobile trolley is out of the predetermined range, and
Based on the detection result of the state of the trainee notified from the posture detection sensor, the difficulty level instructing the movement control unit to change the difficulty level of the training to move the moving carriage by changing the swing pattern. With a setting unit ,
The difficulty setting unit is
When the duration of the state in which the trainee's state collapse notified from the posture detection sensor exceeds the predetermined range exceeds the first specified value, the difficulty level is lowered.
The movement is performed when the duration of the state in which the trainee's state collapse notified from the posture detection sensor is out of the predetermined range exceeds a third specified value larger than the first specified value. A balance training device that instructs the control unit to stop the training. The posture detection sensor is attached to a handrail switch provided on a handrail attached to the mobile carriage, a pressure sensor provided between the handrail and a support column supporting the handrail, and a part of the trainee's body for the training. The balance training device according to claim 1, further comprising at least one of a biological sensor that detects a person's ecological information and a camera that is attached to the mobile carriage and captures the posture of the trainee. In the difficulty setting unit, the integrated value of the time when the collapse of the state of the trainee notified from the posture detection sensor is out of the predetermined range is within the determination threshold period of a predetermined length. The balance training device according to claim 1 or 2, which reduces the difficulty level when the predetermined ratio is exceeded. The difficulty setting unit determines the difficulty increase in which the duration of the state in which the trainee's state collapse notified from the posture detection sensor is within the predetermined range is set based on the second specified value. The balance training device according to any one of claims 1 to 3 , which increases the difficulty level when the period is exceeded. It is a control program of a balance training device in which a trainee stands on a moving trolley that moves on a moving surface to perform balance training.
A movement control step that drives a drive unit that moves the moving trolley to move the moving trolley according to a preset swing pattern.
A posture detection step for detecting that the trainee's state disorder is out of a predetermined range, and
Based on the detection result of the state of the trainee notified in the posture detection step, a difficulty setting step of changing the swing pattern to change the difficulty level of the training to move the moving carriage is executed on the computer. Let me
In the difficulty setting step,
When the duration of the state in which the trainee's state collapse notified in the posture detection step exceeds the predetermined range exceeds the first specified value, the difficulty level is lowered.
The movement when the duration of the state in which the trainee's state collapse notified in the posture detection step exceeds the predetermined range exceeds the third specified value larger than the first specified value. A control program for a balance training device that directs the control step to be aborted .

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